OpenRaiser/Intern-Atlas huggingface dataset:
Lane Detection using Graph Search and Geometric Constraints for Formula Student Driverless
Venue: arXiv cs.RO 2024
Year: 2024

Lane detection is a fundamental task in autonomous driving. While the problem is typically formulated as the detection of continuous boundaries, we study the problem of detecting lane boundaries that are sparsely marked by 2D points with many false positives. This problem arises in the Formula Student Driverless (FSD) competition and is challenging due to its inherent ambiguity. Previous methods are inefficient and unable to find long-horizon solutions. We propose a deterministic algorithm called CLC that uses backtracking graph search with a learned likelihood function to overcome these limitations. We impose geometric constraints on the lane candidates to guarantee a geometrically sound lane. Our exhaustive search leads to finding the global optimum in 45% of instances, and the algorithm is overall robust to up to 50% false positives. Our algorithm runs in less than 15 ms on a single CPU core, meeting the low latency requirements of autonomous racing. We extensively evaluate our method on real data and realistic racetrack layouts, and show that it outperforms the state-of-the-art by detecting long lanes over 100 m with few (0.6%) critical failures. This allows our autonomous racecar to drive close to its physical limits on a previously unknown racetrack without being limited by perception. We release our dataset with realistic Formula Student racetracks to enable further research.
Dynamic Inhomogeneous Quantum Resource Scheduling with Reinforcement Learning
Venue: arXiv cs.LG 2024
Year: 2024

A central challenge in quantum information science and technology is achieving real-time estimation and feedforward control of quantum systems. This challenge is compounded by the inherent inhomogeneity of quantum resources, such as qubit properties and controls, and their intrinsically probabilistic nature. This leads to stochastic challenges in error detection and probabilistic outcomes in processes such as heralded remote entanglement. Given these complexities, optimizing the construction of quantum resource states is an NP-hard problem. In this paper, we address the quantum resource scheduling issue by formulating the problem and simulating it within a digitized environment, allowing the exploration and development of agent-based optimization strategies. We employ reinforcement learning agents within this probabilistic setting and introduce a new framework utilizing a Transformer model that emphasizes self-attention mechanisms for pairs of qubits. This approach facilitates dynamic scheduling by providing real-time, next-step guidance. Our method significantly improves the performance of quantum systems, achieving more than a 3$\times$ improvement over rule-based agents, and establishes an innovative framework that improves the joint design of physical and control systems for quantum applications in communication, networking, and computing.
Video Prediction Models as General Visual Encoders
Venue: arXiv cs.CV 2024
Year: 2024

This study explores the potential of open-source video conditional generation models as encoders for downstream tasks, focusing on instance segmentation using the BAIR Robot Pushing Dataset. The researchers propose using video prediction models as general visual encoders, leveraging their ability to capture critical spatial and temporal information which is essential for tasks such as instance segmentation. Inspired by human vision studies, particularly Gestalts principle of common fate, the approach aims to develop a latent space representative of motion from images to effectively discern foreground from background information. The researchers utilize a 3D Vector-Quantized Variational Autoencoder 3D VQVAE video generative encoder model conditioned on an input frame, coupled with downstream segmentation tasks. Experiments involve adapting pre-trained video generative models, analyzing their latent spaces, and training custom decoders for foreground-background segmentation. The findings demonstrate promising results in leveraging generative pretext learning for downstream tasks, working towards enhanced scene analysis and segmentation in computer vision applications.
Daily Physical Activity Monitoring -- Adaptive Learning from Multi-source Motion Sensor Data
Venue: arXiv cs.LG 2024
Year: 2024

In healthcare applications, there is a growing need to develop machine learning models that use data from a single source, such as that from a wrist wearable device, to monitor physical activities, assess health risks, and provide immediate health recommendations or interventions. However, the limitation of using single-source data often compromises the model's accuracy, as it fails to capture the full scope of human activities. While a more comprehensive dataset can be gathered in a lab setting using multiple sensors attached to various body parts, this approach is not practical for everyday use due to the impracticality of wearing multiple sensors. To address this challenge, we introduce a transfer learning framework that optimizes machine learning models for everyday applications by leveraging multi-source data collected in a laboratory setting. We introduce a novel metric to leverage the inherent relationship between these multiple data sources, as they are all paired to capture aspects of the same physical activity. Through numerical experiments, our framework outperforms existing methods in classification accuracy and robustness to noise, offering a promising avenue for the enhancement of daily activity monitoring.
Assessing Empathy in Large Language Models with Real-World Physician-Patient Interactions
Venue: arXiv cs.CL 2024
Year: 2024

The integration of Large Language Models (LLMs) into the healthcare domain has the potential to significantly enhance patient care and support through the development of empathetic, patient-facing chatbots. This study investigates an intriguing question Can ChatGPT respond with a greater degree of empathy than those typically offered by physicians? To answer this question, we collect a de-identified dataset of patient messages and physician responses from Mayo Clinic and generate alternative replies using ChatGPT. Our analyses incorporate novel empathy ranking evaluation (EMRank) involving both automated metrics and human assessments to gauge the empathy level of responses. Our findings indicate that LLM-powered chatbots have the potential to surpass human physicians in delivering empathetic communication, suggesting a promising avenue for enhancing patient care and reducing professional burnout. The study not only highlights the importance of empathy in patient interactions but also proposes a set of effective automatic empathy ranking metrics, paving the way for the broader adoption of LLMs in healthcare.
AI-Generated Text Detection and Classification Based on BERT Deep Learning Algorithm
Venue: arXiv cs.CL 2024
Year: 2024

AI-generated text detection plays an increasingly important role in various fields. In this study, we developed an efficient AI-generated text detection model based on the BERT algorithm, which provides new ideas and methods for solving related problems. In the data preprocessing stage, a series of steps were taken to process the text, including operations such as converting to lowercase, word splitting, removing stop words, stemming extraction, removing digits, and eliminating redundant spaces, to ensure data quality and accuracy. By dividing the dataset into a training set and a test set in the ratio of 60% and 40%, and observing the changes in the accuracy and loss values during the training process, we found that the model performed well during the training process. The accuracy increases steadily from the initial 94.78% to 99.72%, while the loss value decreases from 0.261 to 0.021 and converges gradually, which indicates that the BERT model is able to detect AI-generated text with high accuracy and the prediction results are gradually approaching the real classification results. Further analysis of the results of the training and test sets reveals that in terms of loss value, the average loss of the training set is 0.0565, while the average loss of the test set is 0.0917, showing a slightly higher loss value. As for the accuracy, the average accuracy of the training set reaches 98.1%, while the average accuracy of the test set is 97.71%, which is not much different from each other, indicating that the model has good generalisation ability. In conclusion, the AI-generated text detection model based on the BERT algorithm proposed in this study shows high accuracy and stability in experiments, providing an effective solution for related fields.
Improving Health Professionals' Onboarding with AI and XAI for Trustworthy Human-AI Collaborative Decision Making
Venue: arXiv cs.HC 2024
Year: 2024

With advanced AI/ML, there has been growing research on explainable AI (XAI) and studies on how humans interact with AI and XAI for effective human-AI collaborative decision-making. However, we still have a lack of understanding of how AI systems and XAI should be first presented to users without technical backgrounds. In this paper, we present the findings of semi-structured interviews with health professionals (n=12) and students (n=4) majoring in medicine and health to study how to improve onboarding with AI and XAI. For the interviews, we built upon human-AI interaction guidelines to create onboarding materials of an AI system for stroke rehabilitation assessment and AI explanations and introduce them to the participants. Our findings reveal that beyond presenting traditional performance metrics on AI, participants desired benchmark information, the practical benefits of AI, and interaction trials to better contextualize AI performance, and refine the objectives and performance of AI. Based on these findings, we highlight directions for improving onboarding with AI and XAI and human-AI collaborative decision-making.
Incremental Pseudo-Labeling for Black-Box Unsupervised Domain Adaptation
Venue: arXiv cs.CV 2024
Year: 2024

Black-Box unsupervised domain adaptation (BBUDA) learns knowledge only with the prediction of target data from the source model without access to the source data and source model, which attempts to alleviate concerns about the privacy and security of data. However, incorrect pseudo-labels are prevalent in the prediction generated by the source model due to the cross-domain discrepancy, which may substantially degrade the performance of the target model. To address this problem, we propose a novel approach that incrementally selects high-confidence pseudo-labels to improve the generalization ability of the target model. Specifically, we first generate pseudo-labels using a source model and train a crude target model by a vanilla BBUDA method. Second, we iteratively select high-confidence data from the low-confidence data pool by thresholding the softmax probabilities, prototype labels, and intra-class similarity. Then, we iteratively train a stronger target network based on the crude target model to correct the wrongly labeled samples to improve the accuracy of the pseudo-label. Experimental results demonstrate that the proposed method achieves state-of-the-art black-box unsupervised domain adaptation performance on three benchmark datasets.
Fast Asymmetric Factorization for Large Scale Multiple Kernel Clustering
Venue: arXiv cs.LG 2024
Year: 2024

Kernel methods are extensively employed for nonlinear data clustering, yet their effectiveness heavily relies on selecting suitable kernels and associated parameters, posing challenges in advance determination. In response, Multiple Kernel Clustering (MKC) has emerged as a solution, allowing the fusion of information from multiple base kernels for clustering. However, both early fusion and late fusion methods for large-scale MKC encounter challenges in memory and time constraints, necessitating simultaneous optimization of both aspects. To address this issue, we propose Efficient Multiple Kernel Concept Factorization (EMKCF), which constructs a new sparse kernel matrix inspired by local regression to achieve memory efficiency. EMKCF learns consensus and individual representations by extending orthogonal concept factorization to handle multiple kernels for time efficiency. Experimental results demonstrate the efficiency and effectiveness of EMKCF on benchmark datasets compared to state-of-the-art methods. The proposed method offers a straightforward, scalable, and effective solution for large-scale MKC tasks.
Multi-Modal UAV Detection, Classification and Tracking Algorithm -- Technical Report for CVPR 2024 UG2 Challenge
Venue: arXiv cs.RO 2024
Year: 2024

This technical report presents the 1st winning model for UG2+, a task in CVPR 2024 UAV Tracking and Pose-Estimation Challenge. This challenge faces difficulties in drone detection, UAV-type classification and 2D/3D trajectory estimation in extreme weather conditions with multi-modal sensor information, including stereo vision, various Lidars, Radars, and audio arrays. Leveraging this information, we propose a multi-modal UAV detection, classification, and 3D tracking method for accurate UAV classification and tracking. A novel classification pipeline which incorporates sequence fusion, region of interest (ROI) cropping, and keyframe selection is proposed. Our system integrates cutting-edge classification techniques and sophisticated post-processing steps to boost accuracy and robustness. The designed pose estimation pipeline incorporates three modules: dynamic points analysis, a multi-object tracker, and trajectory completion techniques. Extensive experiments have validated the effectiveness and precision of our approach. In addition, we also propose a novel dataset pre-processing method and conduct a comprehensive ablation study for our design. We finally achieved the best performance in the classification and tracking of the MMUAD dataset. The code and configuration of our method are available at https://github.com/dtc111111/Multi-Modal-UAV.
Inaccurate Label Distribution Learning with Dependency Noise
Venue: arXiv cs.LG 2024
Year: 2024

In this paper, we introduce the Dependent Noise-based Inaccurate Label Distribution Learning (DN-ILDL) framework to tackle the challenges posed by noise in label distribution learning, which arise from dependencies on instances and labels. We start by modeling the inaccurate label distribution matrix as a combination of the true label distribution and a noise matrix influenced by specific instances and labels. To address this, we develop a linear mapping from instances to their true label distributions, incorporating label correlations, and decompose the noise matrix using feature and label representations, applying group sparsity constraints to accurately capture the noise. Furthermore, we employ graph regularization to align the topological structures of the input and output spaces, ensuring accurate reconstruction of the true label distribution matrix. Utilizing the Alternating Direction Method of Multipliers (ADMM) for efficient optimization, we validate our method's capability to recover true labels accurately and establish a generalization error bound. Extensive experiments demonstrate that DN-ILDL effectively addresses the ILDL problem and outperforms existing LDL methods.
Differentiable Proximal Graph Matching
Venue: arXiv cs.CV 2024
Year: 2024

Graph matching is a fundamental tool in computer vision and pattern recognition. In this paper, we introduce an algorithm for graph matching based on the proximal operator, referred to as differentiable proximal graph matching (DPGM). Specifically, we relax and decompose the quadratic assignment problem for the graph matching into a sequence of convex optimization problems. The whole algorithm can be considered as a differentiable map from the graph affinity matrix to the prediction of node correspondence. Therefore, the proposed method can be organically integrated into an end-to-end deep learning framework to jointly learn both the deep feature representation and the graph affinity matrix. In addition, we provide a theoretical guarantee to ensure the proposed method converges to a stable point with a reasonable number of iterations. Numerical experiments show that PGM outperforms existing graph matching algorithms on diverse datasets such as synthetic data, and CMU House. Meanwhile, PGM can fully harness the capability of deep feature extractors and achieve state-of-art performance on PASCAL VOC keypoints.
Enhancing Reliability in LEO Satellite Networks via High-Speed Inter-Satellite Links
Venue: arXiv cs.NI 2024
Year: 2024

Low Earth orbit (LEO) satellites play a crucial role in providing global connectivity for non-terrestrial networks (NTNs) and supporting various Internet-of-Remote-Things (IoRT) applications. Each LEO satellite functions as a relay node in the sky, employing store-and-forward transmission strategies that necessitate the use of buffers. However, due to the finite size of these buffers, occurrences of buffer overflow leading to packet loss are inevitable. In this paper, we demonstrate how inter-satellite links (ISLs) can mitigate the probability of buffer overflow. Specifically, we propose an approach to reallocate packets among LEO satellites via ISLs to minimize the occurrence of buffer overflow events. Consequently, the implementation of ISLs can lead to a more reliable satellite network, enabling efficient packet reallocation to reduce the probability of buffer overflow.
Causal-aware Graph Neural Architecture Search under Distribution Shifts
Venue: arXiv cs.LG 2024
Year: 2024

Graph NAS has emerged as a promising approach for autonomously designing GNN architectures by leveraging the correlations between graphs and architectures. Existing methods fail to generalize under distribution shifts that are ubiquitous in real-world graph scenarios, mainly because the graph-architecture correlations they exploit might be spurious and varying across distributions. We propose to handle the distribution shifts in the graph architecture search process by discovering and exploiting the causal relationship between graphs and architectures to search for the optimal architectures that can generalize under distribution shifts. The problem remains unexplored with following challenges: how to discover the causal graph-architecture relationship that has stable predictive abilities across distributions, and how to handle distribution shifts with the discovered causal graph-architecture relationship to search the generalized graph architectures. To address these challenges, we propose Causal-aware Graph Neural Architecture Search (CARNAS), which is able to capture the causal graph-architecture relationship during the architecture search process and discover the generalized graph architecture under distribution shifts. Specifically, we propose Disentangled Causal Subgraph Identification to capture the causal subgraphs that have stable prediction abilities across distributions. Then, we propose Graph Embedding Intervention to intervene on causal subgraphs within the latent space, ensuring that these subgraphs encapsulate essential features for prediction while excluding non-causal elements. Additionally, we propose Invariant Architecture Customization to reinforce the causal invariant nature of the causal subgraphs, which are utilized to tailor generalized graph architectures. Extensive experiments demonstrate that CARNAS achieves advanced out-of-distribution generalization ability.
A First Look at Kolmogorov-Arnold Networks in Surrogate-assisted Evolutionary Algorithms
Venue: arXiv cs.NE 2024
Year: 2024

Surrogate-assisted Evolutionary Algorithm (SAEA) is an essential method for solving expensive expensive problems. Utilizing surrogate models to substitute the optimization function can significantly reduce reliance on the function evaluations during the search process, thereby lowering the optimization costs. The construction of surrogate models is a critical component in SAEAs, with numerous machine learning algorithms playing a pivotal role in the model-building phase. This paper introduces Kolmogorov-Arnold Networks (KANs) as surrogate models within SAEAs, examining their application and effectiveness. We employ KANs for regression and classification tasks, focusing on the selection of promising solutions during the search process, which consequently reduces the number of expensive function evaluations. Experimental results indicate that KANs demonstrate commendable performance within SAEAs, effectively decreasing the number of function calls and enhancing the optimization efficiency. The relevant code is publicly accessible and can be found in the GitHub repository.
SE3Set: Harnessing equivariant hypergraph neural networks for molecular representation learning
Venue: arXiv cs.LG 2024
Year: 2024

In this paper, we develop SE3Set, an SE(3) equivariant hypergraph neural network architecture tailored for advanced molecular representation learning. Hypergraphs are not merely an extension of traditional graphs; they are pivotal for modeling high-order relationships, a capability that conventional equivariant graph-based methods lack due to their inherent limitations in representing intricate many-body interactions. To achieve this, we first construct hypergraphs via proposing a new fragmentation method that considers both chemical and three-dimensional spatial information of molecular system. We then design SE3Set, which incorporates equivariance into the hypergragh neural network. This ensures that the learned molecular representations are invariant to spatial transformations, thereby providing robustness essential for accurate prediction of molecular properties. SE3Set has shown performance on par with state-of-the-art (SOTA) models for small molecule datasets like QM9 and MD17. It excels on the MD22 dataset, achieving a notable improvement of approximately 20% in accuracy across all molecules, which highlights the prevalence of complex many-body interactions in larger molecules. This exceptional performance of SE3Set across diverse molecular structures underscores its transformative potential in computational chemistry, offering a route to more accurate and physically nuanced modeling.
Sp2360: Sparse-view 360 Scene Reconstruction using Cascaded 2D Diffusion Priors
Venue: arXiv cs.CV 2024
Year: 2024

We aim to tackle sparse-view reconstruction of a 360 3D scene using priors from latent diffusion models (LDM). The sparse-view setting is ill-posed and underconstrained, especially for scenes where the camera rotates 360 degrees around a point, as no visual information is available beyond some frontal views focused on the central object(s) of interest. In this work, we show that pretrained 2D diffusion models can strongly improve the reconstruction of a scene with low-cost fine-tuning. Specifically, we present SparseSplat360 (Sp2360), a method that employs a cascade of in-painting and artifact removal models to fill in missing details and clean novel views. Due to superior training and rendering speeds, we use an explicit scene representation in the form of 3D Gaussians over NeRF-based implicit representations. We propose an iterative update strategy to fuse generated pseudo novel views with existing 3D Gaussians fitted to the initial sparse inputs. As a result, we obtain a multi-view consistent scene representation with details coherent with the observed inputs. Our evaluation on the challenging Mip-NeRF360 dataset shows that our proposed 2D to 3D distillation algorithm considerably improves the performance of a regularized version of 3DGS adapted to a sparse-view setting and outperforms existing sparse-view reconstruction methods in 360 scene reconstruction. Qualitatively, our method generates entire 360 scenes from as few as 9 input views, with a high degree of foreground and background detail.